Lorenzo fastest during Valencia MotoGP practice

Yamaha Team's Spanish rider Jorge Lorenzo rides during the Moto GP second free practice session ahead of the Motul Comunidad Valenciana Grand Prix at the Ricardo Tormo racetrack in Cheste, Spain. (JOSE JORDAN/AFP)

The Spaniard clocked a best time of 1min 30.463sec at the Ricardo Tormo circuit to edge out compatriot Marc Marquez as he looks to sign off with a victory before leaving Yamaha for Ducati next year.

Lorenzo can finish no higher than the third in the championship which has already been wrapped by Marquez, who claimed his third title in four years last month in Japan.

"For the moment we have started the last weekend with Yamaha in the best way possible," said Lorenzo, who led the world championship standings earlier in the season before falling badly off the pace.

Marquez, 23, won his third world title with three races to spare and he comes into the Valencia race with five wins in 2016 - Argentina, Grand Prix of the Americas, Germany, Aragon and Japan.

The title may be sewn up but on Sunday he still has another target - securing a record 22nd constructors' championship for Honda.

"We ended the day happy with the work we had done, and tomorrow we'll try to continue in the same way, because I think that along with Lorenzo, (Valentino) Rossi and (Maverick) Vinales, we're all at a very similar level," said Marquez.

Lorenzo's teammate Rossi, who has already locked up second place in the championship, was only eighth fastest on Friday.

Dani Pedrosa, the Honda stablemate of Marquez, was 10th as the Spaniard returns for the season finale having missed the last two races after breaking his collarbone and left leg in a horror crash in practice in Japan.

Leading times after the first two free practice sessions:

1. Jorge Lorenzo (ESP/Yamaha) 1:30.463
2. Marc Marquez (ESP/Honda) at 0.247
3. Maverick Vinales (ESP/Suzuki) 0.312
4. Pol Espargaro (ESP/Yamaha Tech3) 0.537
5. Andrea Dovizioso (ITA/Ducati) 0.603
6. Aleix Espargaro (ESP/Suzuki) 0.723
7. Andrea Iannone (ITA/Ducati) 0.726
8. Valentino Rossi (ITA/Yamaha) 0.794
9. Danilo Petrucci (ITA/Ducati Pramac) 0.832
10. Dani Pedrosa (ESP/Honda) 0.895